CN108803374A - A kind of unmanned boat environmental data emulation mode - Google Patents
A kind of unmanned boat environmental data emulation mode Download PDFInfo
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- CN108803374A CN108803374A CN201810578534.0A CN201810578534A CN108803374A CN 108803374 A CN108803374 A CN 108803374A CN 201810578534 A CN201810578534 A CN 201810578534A CN 108803374 A CN108803374 A CN 108803374A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Abstract
The invention discloses a kind of unmanned boat environmental data emulation modes, establish unmanned boat motion model and naval target motion model；The emulation navigation data of unmanned boat is calculated in real time according to navigational parameter as defined in standard navigation format according to unmanned boat current state；According to the position of the navigational state of unmanned boat and current emulation movement overseas target, the radar spoke data of unmanned boat pathfinder output are calculated in real time；Establishing criteria navigation format and radar spoke data format, build network communication message, unmanned boat environmental simulation data are exported to communication network.The present invention improves unmanned boat combat system development efficiency, reduction experimentation cost by the scene of setting unmanned boat operational configuration and various simulated environment, the validity of energy each task system of test and verification.
Description
Technical field
The invention belongs to unmanned boat environmental simulation software systems to be related to technical field, more particularly to a kind of generation radar in real time
The emulation mode of spoke.
Background technology
Unmanned boat is a kind of unattended surface ship.It is mainly used for executing danger and is unsuitable for the execution of someone's ship
Task.After being equipped with advanced control system, sensing system, communication system and weapon system, a variety of wars can be executed
It strives and non-war operations task.For the validity of test and verification unmanned boat control system, the exploitation of unmanned boat combat system is improved
Efficiency reduces experimentation cost, and by simulating the environment residing for unmanned boat, it is research unmanned boat to establish unmanned boat environmental simulation system
Necessary means.
Invention content：
In order to overcome the defect of above-mentioned background technology, the present invention to provide a kind of unmanned boat environmental data emulation mode, test
With the validity of verification unmanned boat control system, unmanned boat combat system development efficiency is improved, reduces experimentation cost.
In order to solve the above-mentioned technical problem used technical solution of the invention is：
A kind of unmanned boat environmental data emulation mode：
Step 1, unmanned boat motion model and naval target motion model are established；
Step 2, nobody is calculated according to unmanned boat current state in real time according to navigational parameter as defined in standard navigation format
The emulation navigation data of ship；
Step 3, according to the position of the navigational state of unmanned boat and current emulation movement overseas target, unmanned boat is calculated in real time
The radar spoke data of pathfinder output；
Step 4, establishing criteria navigation format and radar spoke data format, build network communication message, by unmanned boat ring
Border emulation data are exported to communication network.
Preferably, it includes establishing unmanned boat displacement motion model that step 1, which establishes unmanned boat motion model, unmanned boat position is obtained
Movement movable model is the latitude and longitude coordinates of unmanned boatWherein, Δ λ andIt is unmanned boat in displacement time
Corresponding longitude and latitude knots modification in Δ t,Starting displacement moment t for unmanned boat0Latitude and longitude coordinates.
Preferably, it includes establishing unmanned boat attitude motion model that step 1, which establishes unmanned boat motion model, unmanned boat appearance is obtained
State motion model includes that unmanned boat moves to t moment
Roll angle
Pitch angle
Heave
Wherein, TR,TP,THRespectively the roll angle swing period of unmanned boat, pitch angle swing period and heave period, SR,
SP,SHRespectively the roll angle wobble amplitude, pitch angle wobble amplitude of unmanned boat and heave wobble amplitude, θR,θP,θHRespectively without
Roll angle initial swing phase, pitch angle initial swing phase and the heave initial swing phase of people's ship.
Preferably, it includes obtaining in i-th of target of t moment with respect to unmanned boat that step 1, which establishes naval target motion model,
Distance
Orientation
Wherein, Position for i-th of target of moment t with respect to unmanned boat.
Preferably, step 2 is counted according to unmanned boat current state according to navigational parameter as defined in standard navigation format in real time
The method of each field of emulation navigation data for calculating unmanned boat includes：
Artificial setting unmanned boat current course angle C0,
Obtain the current pitching value Pitch=S of unmanned boatPsin(2πt/TP+θP),
Obtain the current rolling value Roll=S of unmanned boatRsin(2πt/TR+θR),
Obtain unmanned boat currently heave value Heave=SHsin(2πt/TH+θH),
Obtain the current latitude and longitude coordinates λ of unmanned boat0+ Δ λ and
Obtain the current east orientation speed Ve=V of unmanned boat0cos(C0), north orientation speed Vn=V0sin(C0) and sky orientation speed
Vu=SHsin(2πt/TH+θH2 π S of) '=H/THcos(2πt/TH+θH),
Wherein, SpFor the wobble amplitude of pitch angle, TpFor the swing period of pitch angle, θpFor the swaying phase of pitch angle, SR
For the wobble amplitude of roll angle, TRFor the swing period of roll angle, θRFor the swaying phase of roll angle, SHFor the amplitude of fluctuation of heave
Value, THFor the swing period of heave, θHFor the swaying phase of heave,Starting displacement moment t for unmanned boat0Longitude and latitude
Spend coordinate, Δ λ andFor unmanned boat, corresponding longitude and latitude knots modification, t are current time in displacement time Δ t.
Preferably, step 2 is to calculate the emulation navigation data of unmanned boat according to standard GPFPS navigation message data formats.
Preferably, step 3 specifically includes；
Step 3.1, radar spoke data are established and generate model, remember radar scanning radius R, radar rotating speed w, remember radar scanning
One week spoke number is m, and the spoke number in a scan period is j, is directed toward the spoke number j=0 of due north, spoke number with
Spoke arranged clockwise increases one by one, and the quantity of t moment simulation objectives is n, and the corresponding distance of i-th of target's center's point is
Orientation isTarget echo radius is Ri；
Step 3.2, simulation objectives collection is combined into T={ T1,T2,...,Tn, calculate the azimuth model of the echo of all targets
It encloses, the echo bearing angular region of i-th of target of note isWherein, Remember target echo range set
Step 3.3, radar spoke echo is calculated one by one and intersects situation with target, and note radar spoke distance sample quantity is
S, the corresponding orientation angles Azi of j-th of spokejForTraverse target echo range set TrangeIf in the presence ofThen j-th of spoke can show the echo of i-th of target；
Step 3.4, situation is intersected according to spoke and calculates spoke data, note and the set of the area of the spoke j targets intersected
ForRadar spoke sampled point is traversed according to serial number, remembers that the numerical value of k-th of sampled point of j-th of radar spoke is
Spoke(j,k), wherein (k=1,2 ... S ,) ifThen Spoke(j,k)=1, k-th of sampled point exists back
Wave, ifThen Spoke(j,k)=0, echo is not present in k-th of sampled point.
Preferably, the method for step 4 includes：Navigation data and radar spoke data are led into format and mark according to standard first
Quasi- radar spoke said shank.Secondly setting network sending mode and IP address and port numbers, last environmental data is with UDP numbers
It is sent to specified address according to the format of message.
The beneficial effects of the present invention are：Using the method for Computer Simulation, simulates unmanned boat pathfinder and navigation is set
Standby output information is the task systems such as Multi -- Target Radar Tracking System, navigation control system, the radar obstacle avoidance system of unmanned boat
There is provided simulated environment under driving data, by be arranged unmanned boat operational configuration and various simulated environment scene, can test with
The validity of each task system is verified, unmanned boat combat system development efficiency is improved, reduces experimentation cost.
Description of the drawings
Fig. 1 is the schematic diagram of target range of the embodiment of the present invention and orientation,
Fig. 2 is simulation objectives echo angular range schematic diagram of the embodiment of the present invention,
Fig. 3 is that the embodiment of the present invention emulates radar spoke calculating schematic diagram,
Fig. 4 is that radar Spoke data of the embodiment of the present invention calculate schematic diagram,
Fig. 5 is that analogue system of the embodiment of the present invention runs work flow diagram.
Specific implementation mode
The present invention is described further with reference to the accompanying drawings and examples.
The present invention is achieved by the following technical solutions：
A method of being suitable for marine unmanned boat environmental simulation, including unmanned boat navigation simulation system module, marine mesh
Emulation module, radar battle state display and data simulation module, data encoding communication module are marked, the unmanned boat navigation system is imitative
True module is by being arranged the parameters such as vessel position, speed, rolling period, and generation unmanned boat navigational state information, described in real time
Naval target emulation module generates emulation naval target, the radar situation in real time by inputting parameters of target motion information
It has been shown that, by handling unmanned boat navigational state information and naval target information, calculates real time radar spoke number with data simulation module
According to display radar situation, the data encoding communication module encodes radar spoke data and navigation data, finally by nobody
Ship environmental simulation data are sent to network.
The invention includes the following steps：
Step 1, unmanned boat posture and motion model are established, movement overseas target movement model is established.
Step 1.1, unmanned boat displacement motion model to establish mode as follows：
Remember t0The latitude and longitude coordinates of moment unmanned boat areCourse is C0, speed of a ship or plane V0.Then after Δ t, nobody
Displacement x and Δ y of the ship in the directions x and the directions y be respectively：
Δ x=V0Δt×sin(C0)
Δ y=V0Δt×cos(C0)
The corresponding longitude and latitude knots modification Δ λ of displacement of the unmanned boat within the Δ t times,It is represented by with approximate formula：
The latitude and longitude coordinates of unmanned boat are at this timeα is to be produced when latitude changes 1 degree when longitude is identical
The value of raw range difference, α is preferably 111700 meters.
Step 1.2, unmanned boat attitude motion model to establish mode as follows：
Remember that roll angle, pitch angle and the swing period of heave of unmanned boat are respectively TR,TP,TH, wobble amplitude is respectively
SR,SP,SH, initial swing phase is respectively θR,θP,θH.The then roll angle R of t moment unmanned boatt, pitch angle PtAnd HtFor：
Step 1.3, target movement model to establish mode as follows：
The destination number of note emulation is n, if the speed of i-th of target isCourse isIn t0Moment is with respect to nobody
The distance and bearing of ship is respectively
I-th of target with respect to unmanned boat X-direction and Y-direction speed of a ship or plane Vix′、Viy' expression formula be respectively
When unmanned boat and target movement are all linear, position of i-th of the target of t moment with respect to unmanned boat Away from
FromOrientationRespectively：
Step 2, according to unmanned boat current state, according to navigational parameter as defined in standard navigation format, with the frequency of 50Hz
The emulation navigation data of unmanned boat is calculated in real time.
Standard GPFPS navigation message data formats are as follows：
$GPFPS,GPSWeek,GPSTime,Heading,Pitch,Roll,Lattitude,Longitude,
Altitude,Headdc,Heave,Ve,Vn,Vu,Baseline,NSV1,NSV2,Status*cs<CR><LF>
The navigation message data format table of table 1
According in step 1 unmanned boat movement and attitude mode, it is as shown in the table for the numerical computational formulas of each field：
The navigation message data calculation formula of table 2
Wherein,
(1) message header and temporal information (field 1-3)
Field 1Header is fix information, and value is " $ GPFPS ",
Field 2GPSWeekWith 3UTCTimeTake the current time in system.
(2) unmanned boat currently navigates information (field 4)
Field number 4HeadingIndicate the current course of unmanned boat, value C0。
(3) unmanned boat current pose information (field 5,6,11)
Field number 5Pitch、6Roll、11HeaveThe current pitching value of unmanned boat, rolling value and heave are indicated respectively, according to step 1
In unmanned boat attitude motion model, field number 5,6,11 distinguish value be SPsin(2πt/TP+θP)、SRsin(2πt/TR+θR)
And SHsin(2πt/TH+θH)。
(4) unmanned boat current location information (field 7-10)
Field number 7LattitudeWith 8LongitudeUnmanned boat current latitude coordinate and longitude coordinate are indicated respectively, according to step
Unmanned boat motion model in one, field number 7LattitudeWith 8LongitudeValue is respectivelyAnd λ0+Δλ。
Field number 9AltitudeIt indicates unmanned boat present level, takes fixed value " 0 ".
Field number 10Head_dcIt indicates unmanned boat drift angle, takes fixed value " 0 ".
(5) unmanned boat present speed information (field 12-14)
Field number 12Ve、13Vn、14VuThe current east orientation speed of unmanned boat, north orientation speed and sky orientation speed are indicated respectively.Wherein
According to the unmanned boat motion model in step 1, east orientation speed and north orientation speed are respectively V0cos(C0) and V0sin(C0), nothing
People's ship sky orientation speed can obtain time derivation by the heave information in step 1 attitude motion model.That is the day of unmanned boat
It is to the expression formula of speed
Vu=SHsin(2πt/TH+θH2 π S of) '=H/THcos(2πt/TH+θH)。
(6) unmanned boat GPS satellite information (field 15-17)
Field number 15BaselineIndicate the distance between GPS receiving antenna, field number 16NSV1With 17NSV2Indicate two GPS
Reception antenna receives number of satellite, since output emulates navigation data, sets above-mentioned field as fixed value.
Field number 15 takes fixed value " 10 ", field number 16 that fixed value " 12 ", field number 17 is taken to take fixed value " 12 ".
Step 3, according to the position of the navigational state of unmanned boat and current emulation movement overseas target, unmanned boat is calculated in real time
The radar spoke data of pathfinder output.Radar spoke data generation model is established to specifically comprise the following steps：
Step 3.1, if radar scanning radius R, the spoke number of radar rotating speed w, note radar scanning one week are m, a scanning
Spoke number in period is j, is directed toward the spoke number j=0 of due north, and spoke number is with increase clockwise, according to step 1,
The quantity of t moment simulation objectives is n, and the corresponding distance of i-th of target's center's point isOrientation isTarget echo radius is
Ri。
Step 3.2, simulation objectives collection is combined into T, T={ T1,T2,...,Tn, calculate the azimuth model of the echo of all targets
It encloses.Remember that the echo bearing angular region of i-th of target isWherein Remember target echo range set
Step 3.3, radar spoke echo is calculated one by one and intersects situation with target, and note radar spoke distance sample quantity is
S.The corresponding orientation angles Azi of j-th of spokejForTraverse target echo range set TrangeIf in the presence ofShow that j-th of spoke can show the echo of i-th of target.Fig. 3 indicates No. 341 spoke
Item energy display target T1, No. 364 spoke can display target T simultaneously1And T2。
Step 3.4, situation is intersected according to spoke and calculates spoke data.Note and the set of the area of the spoke j targets intersected
ForRadar spoke sampled point is traversed according to serial number, remembers that the numerical value of k-th of sampled point of j-th of radar spoke is
Spoke(j,k)Wherein (k=1,2 ..., S), ifThen Spoke(j,)k=1, indicate the sampled point there are echo,
IfThen Spoke(j,k)=0, indicate that echo is not present in the sampled point.In the case of considering Fig. 3, when j=364, thunder
Schematic diagram such as Fig. 4 is calculated up to Spoke data to indicate.
Step 4, establishing criteria navigation format and radar spoke data format, build network communication message, by unmanned boat ring
Border emulation data are exported to communication network, and specific method includes：
Navigation data and radar spoke data are led into format and standard radar spoke said shank according to standard first.Secondly
Setting network sending mode and IP address and port numbers, last environmental data are sent to specified with the format of UDP message message
Address.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (8)
1. a kind of unmanned boat environmental data emulation mode, it is characterised in that：
Step 1, unmanned boat motion model and naval target motion model are established；
Step 2, unmanned boat is calculated according to unmanned boat current state in real time according to navigational parameter as defined in standard navigation format
Emulate navigation data；
Step 3, according to the position of the navigational state of unmanned boat and current emulation movement overseas target, unmanned boat navigation is calculated in real time
The radar spoke data of radar output；
Step 4, establishing criteria navigation format and radar spoke data format, build network communication message, unmanned boat environment are imitated
True data is exported to communication network.
2. a kind of unmanned boat environmental data emulation mode according to claim 1, which is characterized in that the step 1 is established
Unmanned boat motion model includes establishing unmanned boat displacement motion model, and it is unmanned boat to obtain the unmanned boat displacement motion model
Latitude and longitude coordinatesWherein, Δ λ andFor unmanned boat, corresponding longitude and latitude changes in displacement time Δ t
Variable,Starting displacement moment t for unmanned boat0Latitude and longitude coordinates.
3. a kind of unmanned boat environmental data emulation mode according to claim 1, which is characterized in that the step 1 is established
Unmanned boat motion model includes establishing unmanned boat attitude motion model, and it includes unmanned boat to obtain the unmanned boat attitude motion model
Move to t moment
Roll angle
Pitch angle
Heave
Wherein, TR,TP,THRespectively the roll angle swing period of unmanned boat, pitch angle swing period and heave period, SR,SP,SH
Respectively the roll angle wobble amplitude, pitch angle wobble amplitude of unmanned boat and heave wobble amplitude, θR,θP,θHRespectively unmanned boat
Roll angle initial swing phase, pitch angle initial swing phase and heave initial swing phase.
4. a kind of unmanned boat environmental data emulation mode according to claim 2, which is characterized in that the step 1 is established
Naval target motion model includes obtaining in i-th of target of t moment with respect to unmanned boat
Distance
Orientation
Wherein,Position for i-th of target of moment t with respect to unmanned boat.
5. a kind of unmanned boat environmental data emulation mode according to claim 1, which is characterized in that step 2 basis
Unmanned boat current state, according to navigational parameter as defined in standard navigation format, the emulation navigation data for calculating unmanned boat in real time is each
The method of field includes：
Artificial setting unmanned boat current course angle C0,
Obtain the current pitching value Pitch=S of unmanned boatPsin(2πt/TP+θP),
Obtain the current rolling value Roll=S of unmanned boatRsin(2πt/TR+θR),
Obtain unmanned boat currently heave value Heave=SHsin(2πt/TH+θH),
Obtain the current latitude and longitude coordinates λ of unmanned boat0+ Δ λ and
Obtain the current east orientation speed Ve=V of unmanned boat0cos(C0), north orientation speed Vn=V0sin(C0) and sky orientation speed Vu=
SHsin(2πt/TH+θH2 π S of) '=H/THcos(2πt/TH+θH),
Wherein, the SpFor the wobble amplitude of pitch angle, TpFor the swing period of pitch angle, θpFor the swaying phase of pitch angle, institute
State SRFor the wobble amplitude of roll angle, TRFor the swing period of roll angle, θRFor the swaying phase of roll angle, the SHFor heave
Wobble amplitude, THFor the swing period of heave, θHFor the swaying phase of heave,Starting the displacement moment for unmanned boat
t0Latitude and longitude coordinates, Δ λ andFor unmanned boat, corresponding longitude and latitude knots modification, t are current time in displacement time Δ t.
6. a kind of unmanned boat environmental data emulation mode according to claim 5, which is characterized in that the step 2 be by
The quasi- GPFPS navigation message data format of sighting target calculates the emulation navigation data of unmanned boat.
7. a kind of unmanned boat environmental data emulation mode according to claim 1, which is characterized in that the step 3 is specific
Including；
Step 3.1, radar spoke data are established and generate model, remember radar scanning radius R, radar rotating speed w, note radar scanning one week
Spoke number be m, the spoke number in a scan period is j, is directed toward the spoke number j=0 of due north, and spoke number is with spoke
Arranged clockwise increases one by one, and the quantity of t moment simulation objectives is n, and the corresponding distance of i-th of target's center's point isOrientation
ForTarget echo radius is Ri；
Step 3.2, simulation objectives collection is combined into T={ T1,T2,...,Tn, the azimuth coverage of the echo of all targets is calculated, is remembered
The echo bearing angular region of i-th of target isWherein, Remember target echo range set
Step 3.3, radar spoke echo is calculated one by one intersects situation with target, note radar spoke distance sample quantity is S, the
The corresponding orientation angles Azi of j spokejForTraverse target echo range set TrangeIf in the presence ofThen j-th of spoke can show the echo of i-th of target；
Step 3.4, situation is intersected according to spoke and calculates spoke data, note is combined into the collection of the area of the spoke j targets intersected
Radar spoke sampled point is traversed according to serial number, remembers that the numerical value of k-th of sampled point of j-th of radar spoke is Spoke(j,k),
InIfThen Spoke(j,k)=1, there are echoes for k-th of sampled point, ifThen Spoke(j,k)=0, echo is not present in k-th of sampled point.
8. a kind of unmanned boat environmental data emulation mode according to claim 1, which is characterized in that the side of the step 4
Method includes：Navigation data and radar spoke data are led into format and standard radar spoke said shank according to standard first, secondly
Setting network sending mode and IP address and port numbers, last environmental data are sent to specified with the format of UDP message message
Address.
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| CN115130202A (en) * | 2022-06-06 | 2022-09-30 | 中国船舶集团有限公司系统工程研究院 | Unmanned ship navigation simulation method and system |
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